Ultrasonic surgical instrument with articulation joint having plurality of locking positions

ABSTRACT

An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, an articulation drive assembly, and a locking feature. The shaft extends distally from the body assembly. The waveguide comprises a flexible portion. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis of the shaft. The articulation drive assembly comprises an actuator. The actuator is movable relative to the body assembly to drive articulation of the articulation section. The locking feature is in communication with the actuator. The locking feature is movable between an unlocked state and a locked state. The locking feature is configured to permit movement of the actuator relative to the body assembly in the unlocked state. The locking feature is configured to prevent movement of the actuator relative to the body assembly in the locked state.

BACKGROUND

A variety of surgical instruments include an end effector having a bladeelement that vibrates at ultrasonic frequencies to cut and/or sealtissue (e.g., by denaturing proteins in tissue cells). These instrumentsinclude piezoelectric elements that convert electrical power intoultrasonic vibrations, which are communicated along an acousticwaveguide to the blade element. The precision of cutting and coagulationmay be controlled by the surgeon's technique and adjusting the powerlevel, blade edge, tissue traction and blade pressure.

Examples of ultrasonic surgical instruments include the HARMONIC ACE®Ultrasonic Shears, the HARMONIC WAVE® Ultrasonic Shears, the HARMONICFOCUS® Ultrasonic Shears, and the HARMONIC SYNERGY® Ultrasonic Blades,all by Ethicon Endo-Surgery, Inc. of Cincinnati, Ohio. Further examplesof such devices and related concepts are disclosed in U.S. Pat. No.5,322,055, entitled “Clamp Coagulator/Cutting System for UltrasonicSurgical Instruments,” issued Jun. 21, 1994, the disclosure of which isincorporated by reference herein; U.S. Pat. No. 5,873,873, entitled“Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp Mechanism,”issued Feb. 23, 1999, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 5,980,510, entitled “Ultrasonic ClampCoagulator Apparatus Having Improved Clamp Arm Pivot Mount,” filed Oct.10, 1997, the disclosure of which is incorporated by reference herein;U.S. Pat. No. 6,325,811, entitled “Blades with Functional BalanceAsymmetries for use with Ultrasonic Surgical Instruments,” issued Dec.4, 2001, the disclosure of which is incorporated by reference herein;U.S. Pat. No. 6,773,444, entitled “Blades with Functional BalanceAsymmetries for Use with Ultrasonic Surgical Instruments,” issued Aug.10, 2004, the disclosure of which is incorporated by reference herein;and U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool withUltrasound Cauterizing and Cutting Instrument,” issued Aug. 31, 2004,the disclosure of which is incorporated by reference herein.

Still further examples of ultrasonic surgical instruments are disclosedin U.S. Pub. No. 2006/0079874, entitled “Tissue Pad for Use with anUltrasonic Surgical Instrument,” published Apr. 13, 2006, the disclosureof which is incorporated by reference herein; U.S. Pub. No.2007/0191713, entitled “Ultrasonic Device for Cutting and Coagulating,”published Aug. 16, 2007, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2007/0282333, entitled “UltrasonicWaveguide and Blade,” published Dec. 6, 2007, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2008/0200940, entitled“Ultrasonic Device for Cutting and Coagulating,” published Aug. 21,2008, the disclosure of which is incorporated by reference herein; U.S.Pub. No. 2009/0105750, entitled “Ergonomic Surgical Instruments,”published Apr. 23, 2009, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2010/0069940, entitled “UltrasonicDevice for Fingertip Control,” published Mar. 18, 2010, the disclosureof which is incorporated by reference herein; and U.S. Pub. No.2011/0015660, entitled “Rotating Transducer Mount for UltrasonicSurgical Instruments,” published Jan. 20, 2011, the disclosure of whichis incorporated by reference herein; and U.S. Pub. No. 2012/0029546,entitled “Ultrasonic Surgical Instrument Blades,” published Feb. 2,2012, the disclosure of which is incorporated by reference herein.

Some ultrasonic surgical instruments may include a cordless transducersuch as that disclosed in U.S. Pub. No. 2012/0112687, entitled “RechargeSystem for Medical Devices,” published May 10, 2012, the disclosure ofwhich is incorporated by reference herein; U.S. Pub. No. 2012/0116265,entitled “Surgical Instrument with Charging Devices,” published May 10,2012, the disclosure of which is incorporated by reference herein;and/or U.S. Pat. App. No. 61/410,603, filed Nov. 5, 2010, entitled“Energy-Based Surgical Instruments,” the disclosure of which isincorporated by reference herein.

Additionally, some ultrasonic surgical instruments may include anarticulating shaft section and/or a bendable ultrasonic waveguide.Examples of such ultrasonic surgical instruments are disclosed in U.S.Pat. No. 5,897,523, entitled “Articulating Ultrasonic SurgicalInstrument,” issued Apr. 27, 1999, the disclosure of which isincorporated by reference herein; U.S. Pat. No. 5,989,264, entitled“Ultrasonic Polyp Snare,” issued Nov. 23, 1999, the disclosure of whichis incorporated by reference herein; U.S. Pat. No. 6,063,098, entitled“Articulable Ultrasonic Surgical Apparatus,” issued May 16, 2000, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.6,090,120, entitled “Articulating Ultrasonic Surgical Instrument,”issued Jul. 18, 2000, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 6,454,782, entitled “Actuation Mechanismfor Surgical Instruments,” issued Sep. 24, 2002, the disclosure of whichis incorporated by reference herein; U.S. Pat. No. 6,589,200, entitled“Articulating Ultrasonic Surgical Shears,” issued Jul. 8, 2003, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.6,752,815, entitled “Method and Waveguides for Changing the Direction ofLongitudinal Vibrations,” issued Jun. 22, 2004, the disclosure of whichis incorporated by reference herein; U.S. Pat. No. 7,135,030, entitled“Articulating Ultrasonic Surgical Shears,” issued Nov. 14, 2006; U.S.Pat. No. 7,621,930, entitled “Ultrasound Medical Instrument Having aMedical Ultrasonic Blade,” issued Nov. 24, 2009, the disclosure of whichis incorporated by reference herein; U.S. Pub. No. 2014/0005701,published Jan. 2, 2014, entitled “Surgical Instruments with ArticulatingShafts,” the disclosure of which is incorporated by reference herein;U.S. Pub. No. 2014/005703, entitled “Surgical Instruments withArticulating Shafts,” published Jan. 2, 2014, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2014/0114334, entitled“Flexible Harmonic Waveguides/Blades for Surgical Instruments,”published Apr. 24, 2014, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2015/0080924, entitled “ArticulationFeatures for Ultrasonic Surgical Instrument,” published Mar. 19, 2015,the disclosure of which is incorporated by reference herein; and U.S.patent application Ser. No. 14/258,179, entitled Ultrasonic SurgicalDevice with Articulating End Effector,” filed Apr. 22, 2014, thedisclosure of which is incorporated by reference herein.

While several surgical instruments and systems have been made and used,it is believed that no one prior to the inventors has made or used theinvention described in the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims which particularly pointout and distinctly claim this technology, it is believed this technologywill be better understood from the following description of certainexamples taken in conjunction with the accompanying drawings, in whichlike reference numerals identify the same elements and in which:

FIG. 1 depicts a side elevational view of an exemplary ultrasonicsurgical instrument;

FIG. 2 depicts a perspective view of an articulation section of a shaftassembly and an end effector of the surgical instrument of FIG. 1;

FIG. 3 depicts an exploded perspective view of an articulation sectionof the shaft assembly of FIG. 2;

FIG. 4 depicts a cross-sectional side view of the shaft assembly and endeffector of FIG. 2;

FIG. 5 depicts a top plan view of the shaft assembly and end effector ofFIG. 2;

FIG. 6A depicts a cross-sectional top view of the shaft assembly and endeffector of FIG. 2 in a straight configuration;

FIG. 6B depicts a cross-sectional top view of the shaft assembly and endeffector of FIG. 2 in an articulated configuration;

FIG. 7 depicts a partially exploded perspective view of the shaftassembly and end effector of FIG. 2;

FIG. 8 depicts a perspective view of a distal collar and a drive cableof the shaft assembly of FIG. 2;

FIG. 9 depicts a partially exploded perspective view of an articulationcontrol assembly of the instrument of FIG. 1;

FIG. 10A depicts a side elevational view of the end effector and thedistal portion of the shaft assembly of FIG. 2, with a clamp arm of theend effector in a closed position, and with an outer sheath shown incross section to reveal components within the outer sheath;

FIG. 10B depicts a side elevational view of the shaft assembly and endeffector of FIG. 10A, with the clamp arm moved to a partially openposition;

FIG. 10C depicts a side elevational view of the shaft assembly and endeffector of FIG. 10A, with the clamp arm moved to a fully open position;

FIG. 11 shows a perspective view of an exemplary alternativearticulation control assembly that may be incorporated into theinstrument of FIG. 1, with a locking feature in a locked configuration;

FIG. 12A depicts a top plan view of the articulation control assembly ofFIG. 11, with the locking feature in the locked configuration;

FIG. 12B depicts a top plan view of the articulation control assembly ofFIG. 11, with the locking feature in an unlocked configuration;

FIG. 13 depicts a side elevational view of another exemplary alternativearticulation control assembly that may be incorporated into theinstrument of FIG. 1, with a locking feature in a locked configuration;

FIG. 13A depicts a detailed side elevational view of the locking featureof the articulation control assembly of FIG. 13 in the lockedconfiguration, with a housing portion shown in cross-section;

FIG. 13B depicts a detailed side elevational view of the locking featureof the articulation control assembly of FIG. 13 in the unlockedconfiguration, with a housing portion shown in cross-section;

FIG. 14 depicts a bottom cross-sectional view of a knob of thearticulation control assembly of FIG. 13, taken along line 14-14 of FIG.13;

FIG. 15A depicts a side elevational view of yet another exemplaryalternative articulation control assembly that may be incorporated intothe instrument of FIG. 1, with a locking feature in a lockedconfiguration;

FIG. 15B depicts a side elevational view of the articulation controlassembly of FIG. 15A, with the locking feature in an unlockedconfiguration;

FIG. 16 a bottom plan view of a knob of the articulation controlassembly of FIG. 15A;

FIG. 17 depicts a top plan view of a housing of the articulation controlassembly of FIG. 15A;

FIG. 18 depicts a top elevational view of yet another exemplaryalternative articulation control assembly that may be incorporated intothe instrument of FIG. 1, with a locking feature in a lockedconfiguration;

FIG. 19A depicts a partial, side cross-sectional view of thearticulation control assembly of FIG. 18, with the locking feature in alocked configuration;

FIG. 19B depicts a partial, side cross-sectional view of thearticulation control assembly of FIG. 18, with the locking feature in anunlocked configuration;

FIG. 20 depicts an exploded perspective view of another exemplaryalternative articulation control assembly that may be incorporated intothe instrument of FIG. 1;

FIG. 21 depicts a bottom perspective view of a knob of the articulationcontrol assembly of FIG. 20;

FIG. 22 depicts a perspective view of the articulation control assemblyof FIG. 20, with part of the housing broken away to show details of thecomponents;

FIG. 23 depicts another perspective view of the articulation controlassembly of FIG. 20, with part of the housing broken away to showdetails of the components;

FIG. 24A shows a rear elevational view of the articulation controlassembly of FIG. 20, with a portion of the housing hidden to showdetails of the components, and with the knob in a home position;

FIG. 24B shows a rear elevational view of the articulation controlassembly of FIG. 20, with a portion of the housing hidden to showdetails of the components, and with the knob tilted to an unlockingposition;

FIG. 25 shows a side elevational view of the articulation controlassembly of FIG. 20, with a portion of the housing being shown astransparent to show details of the components, and with the knob tiltedto the unlocking position;

FIG. 26A depicts a partial, schematic, side elevational view of anexemplary alternative articulation control assembly that may beincorporated into the instrument of FIG. 1, with a locking feature in alocked configuration;

FIG. 26B depicts a partial, schematic, side elevational view of thearticulation control assembly of FIG. 26A, with the locking feature inan unlocked configuration;

FIG. 27A depicts a depicts a top plan view of another exemplaryalternative articulation control assembly that may be incorporated intothe instrument of FIG. 1, with the articulation control assembly in afirst configuration;

FIG. 27B depicts a top plan view of the articulation control assembly ofFIG. 27A, with the articulation control assembly in a secondconfiguration;

FIG. 28A depicts a partial side elevational view of the articulationcontrol assembly of FIG. 27A, with the articulation control assembly inthe first configuration;

FIG. 28B depicts a partial side elevational view of the articulationcontrol assembly of FIG. 27A, with the articulation control assembly inthe second configuration;

FIG. 29A depicts a side elevational view of another exemplaryalternative articulation control assembly that may be incorporated intothe instrument of FIG. 1, with the articulation control assembly in afirst configuration;

FIG. 29B depicts a side view of the articulation control assembly ofFIG. 29A, with the articulation control assembly in a secondconfiguration;

FIG. 30A depicts a partial cross-sectional view of the articulationcontrol assembly of FIG. 29A, taken along line 30A-30A of FIG. 29A, withthe articulation control assembly in the first configuration; and

FIG. 30B depicts a partial cross-sectional view of the articulationcontrol assembly of FIG. 29A, taken along line 30B-30B of FIG. 29B, withthe articulation control assembly in the second configuration.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the technology may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presenttechnology, and together with the description serve to explain theprinciples of the technology; it being understood, however, that thistechnology is not limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the technology shouldnot be used to limit its scope. Other examples, features, aspects,embodiments, and advantages of the technology will become apparent tothose skilled in the art from the following description, which is by wayof illustration, one of the best modes contemplated for carrying out thetechnology. As will be realized, the technology described herein iscapable of other different and obvious aspects, all without departingfrom the technology. Accordingly, the drawings and descriptions shouldbe regarded as illustrative in nature and not restrictive.

It is further understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Thefollowing-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

For clarity of disclosure, the terms “proximal” and “distal” are definedherein relative to a human or robotic operator of the surgicalinstrument. The term “proximal” refers the position of an element closerto the human or robotic operator of the surgical instrument and furtheraway from the surgical end effector of the surgical instrument. The term“distal” refers to the position of an element closer to the surgical endeffector of the surgical instrument and further away from the human orrobotic operator of the surgical instrument.

I. Exemplary Ultrasonic Surgical Instrument

FIG. 1 shows an exemplary ultrasonic surgical instrument (10). At leastpart of instrument (10) may be constructed and operable in accordancewith at least some of the teachings of any of the various patents,patent application publications, and patent applications that are citedherein. As described therein and as will be described in greater detailbelow, instrument (10) is operable to cut tissue and seal or weld tissue(e.g., a blood vessel, etc.) substantially simultaneously. It shouldalso be understood that instrument (10) may have various structural andfunctional similarities with the HARMONIC ACE® Ultrasonic Shears, theHARMONIC WAVE® Ultrasonic Shears, the HARMONIC FOCUS® Ultrasonic Shears,and/or the HARMONIC SYNERGY® Ultrasonic Blades. Furthermore, instrument(10) may have various structural and functional similarities with thedevices taught in any of the other references that are cited andincorporated by reference herein.

To the extent that there is some degree of overlap between the teachingsof the references cited herein, the HARMONIC ACE® Ultrasonic Shears, theHARMONIC WAVE® Ultrasonic Shears, the HARMONIC FOCUS® Ultrasonic Shears,and/or the HARMONIC SYNERGY® Ultrasonic Blades, and the followingteachings relating to instrument (10), there is no intent for any of thedescription herein to be presumed as admitted prior art. Severalteachings herein will in fact go beyond the scope of the teachings ofthe references cited herein and the HARMONIC ACE® Ultrasonic Shears, theHARMONIC WAVE® Ultrasonic Shears, the HARMONIC FOCUS® Ultrasonic Shears,and the HARMONIC SYNERGY® Ultrasonic Blades.

Instrument (10) of the present example comprises a handle assembly (20),a shaft assembly (30), and an end effector (40). Handle assembly (20)comprises a body (22) including a pistol grip (24) and a pair of buttons(26). Handle assembly (20) also includes a trigger (28) that ispivotable toward and away from pistol grip (24). It should beunderstood, however, that various other suitable configurations may beused, including but not limited to a scissor grip configuration. Endeffector (40) includes an ultrasonic blade (160) and a pivoting clamparm (44). Clamp arm (44) is coupled with trigger (28) such that clamparm (44) is pivotable toward ultrasonic blade (160) in response topivoting of trigger (28) toward pistol grip (24); and such that clamparm (44) is pivotable away from ultrasonic blade (160) in response topivoting of trigger (28) away from pistol grip (24). Various suitableways in which clamp arm (44) may be coupled with trigger (28) will beapparent to those of ordinary skill in the art in view of the teachingsherein. In some versions, one or more resilient members are used to biasclamp arm (44) and/or trigger (28) to the open position shown in FIG. 1.

An ultrasonic transducer assembly (12) extends proximally from body (22)of handle assembly (20). Transducer assembly (12) is coupled with agenerator (16) via a cable (14), such that transducer assembly (12)receives electrical power from generator (16). Piezoelectric elements intransducer assembly (12) convert that electrical power into ultrasonicvibrations. Generator (16) may include a power source and control modulethat is configured to provide a power profile to transducer assembly(12) that is particularly suited for the generation of ultrasonicvibrations through transducer assembly (12). By way of example only,generator (16) may comprise a GEN 300 sold by Ethicon Endo-Surgery, Inc.of Cincinnati, Ohio. In addition or in the alternative, generator (16)may be constructed in accordance with at least some of the teachings ofU.S. Pub. No. 2011/0087212, entitled “Surgical Generator for Ultrasonicand Electrosurgical Devices,” published Apr. 14, 2011, the disclosure ofwhich is incorporated by reference herein. It should also be understoodthat at least some of the functionality of generator (16) may beintegrated into handle assembly (20), and that handle assembly (20) mayeven include a battery or other on-board power source such that cable(14) is omitted. Still other suitable forms that generator (16) maytake, as well as various features and operabilities that generator (16)may provide, will be apparent to those of ordinary skill in the art inview of the teachings herein.

A. Exemplary End Effector and Acoustic Drivetrain

As best seen in FIGS. 2-4, end effector (40) of the present examplecomprises clamp arm (44) and ultrasonic blade (160). Clamp arm (44)includes a clamp pad (46) that is secured to the underside of clamp arm(44), facing blade (160). Clamp pad (46) may comprisepolytetrafluoroethylene (PTFE) and/or any other suitable material(s).Clamp arm (44) is pivotally secured to a distally projecting tongue (43)of an upper distal shaft element (172), which is fixedly secured withina distal portion of a distal outer sheath (33). Clamp arm (44) isoperable to selectively pivot toward and away from blade (160) toselectively clamp tissue between clamp arm (44) and blade (160). A pairof arms (156) extend transversely from clamp arm (44) and are pivotallysecured to a lower distal shaft element (170), which is slidablydisposed within the distal portion of distal outer sheath (33).

As best seen in FIGS. 7-8, a cable (174) is secured to lower distalshaft element (170). Cable (174) is operable to translate longitudinallyrelative to an articulation section (130) of shaft assembly (30) toselectively pivot clamp arm (44) toward and away from blade (160). Inparticular, cable (174) is coupled with trigger (28) such that cable(174) translates proximally in response to pivoting of trigger (28)toward pistol grip (24), and such that clamp arm (44) thereby pivotstoward blade (160) in response to pivoting of trigger (28) toward pistolgrip (24). In addition, cable (174) translates distally in response topivoting of trigger (28) away from pistol grip (24), such that clamp arm(44) pivots away from blade (160) in response to pivoting of trigger(28) away from pistol grip (24). Clamp arm (44) may be biased toward theopen position, such that (at least in some instances) the operator mayeffectively open clamp arm (44) by releasing a grip on trigger (28).

As shown in FIGS. 7-8, cable (174) is secured to a proximal end of lowerdistal shaft element (170). Lower distal shaft element (170) comprises apair of distal flanges (171, 173) extending from a semi-circular base(168). Flanges (171, 173) each comprise a respective opening (175, 177).Clamp arm (44) is rotatably coupled to lower distal shaft element (170)via a pair of inwardly extending integral pins (41, 45). Pins (41, 45)extend inwardly from arms (156) of clamp arm (44) and are rotatablydisposed within respective openings (175, 177) of lower distal shaftelement (170). As shown in FIGS. 10A-10C, longitudinal translation ofcable (174) causes longitudinal translation of lower distal shaftelement (170) between a proximal position (FIG. 10A) and a distalposition (FIG. 10C). Longitudinal translation of lower distal shaftelement (170) causes rotation of clamp arm (44) between a closedposition (FIG. 10A) and an open position (FIG. 10C).

Blade (160) of the present example is operable to vibrate at ultrasonicfrequencies in order to effectively cut through and seal tissue,particularly when the tissue is being compressed between clamp pad (46)and blade (160). Blade (160) is positioned at the distal end of anacoustic drivetrain. This acoustic drivetrain includes transducerassembly (12) and an acoustic waveguide (180). Acoustic waveguide (180)comprises a flexible portion (166). Transducer assembly (12) includes aset of piezoelectric discs (not shown) located proximal to a horn (notshown) of waveguide (180). The piezoelectric discs are operable toconvert electrical power into ultrasonic vibrations, which are thentransmitted along waveguide (180), including flexible portion (166) ofwaveguide (180) to blade (160) in accordance with known configurationsand techniques. By way of example only, this portion of the acousticdrivetrain may be configured in accordance with various teachings ofvarious references that are cited herein.

As best seen in FIG. 3, flexible portion (166) of waveguide (180)includes a distal flange (136), a proximal flange (138), and a narrowedsection (164) located between flanges (136, 138). In the presentexample, flanges (136, 138) are located at positions corresponding tonodes associated with resonant ultrasonic vibrations communicatedthrough flexible portion (166) of waveguide (180). Narrowed section(164) is configured to allow flexible portion (166) of waveguide (180)to flex without significantly affecting the ability of flexible portion(166) of waveguide (180) to transmit ultrasonic vibrations. By way ofexample only, narrowed section (164) may be configured in accordancewith one or more teachings of U.S. Pub. No. 2014/0005701 and/or U.S.Pub. No. 2014/0114334, the disclosures of which are incorporated byreference herein. It should be understood that waveguide (180) may beconfigured to amplify mechanical vibrations transmitted throughwaveguide (180). Furthermore, waveguide (180) may include featuresoperable to control the gain of the longitudinal vibrations alongwaveguide (180) and/or features to tune waveguide (180) to the resonantfrequency of the system. Various suitable ways in which waveguide (180)may be mechanically and acoustically coupled with transducer assembly(12) will be apparent to those of ordinary skill in the art in view ofthe teachings herein.

In the present example, the distal end of blade (160) is located at aposition corresponding to an anti-node associated with resonantultrasonic vibrations communicated through flexible portion (166) ofwaveguide (180), in order to tune the acoustic assembly to a preferredresonant frequency f_(o) when the acoustic assembly is not loaded bytissue. When transducer assembly (12) is energized, the distal end ofblade (160) is configured to move longitudinally in the range of, forexample, approximately 10 to 500 microns peak-to-peak, and in someinstances in the range of about 20 to about 200 microns at apredetermined vibratory frequency f_(o) of, for example, 55.5 kHz. Whentransducer assembly (12) of the present example is activated, thesemechanical oscillations are transmitted through waveguide (180) to reachblade (160), thereby providing oscillation of blade (160) at theresonant ultrasonic frequency. Thus, when tissue is secured betweenblade (160) and clamp pad (46), the ultrasonic oscillation of blade(160) may simultaneously sever the tissue and denature the proteins inadjacent tissue cells, thereby providing a coagulative effect withrelatively little thermal spread. In some versions, an electricalcurrent may also be provided through blade (160) and clamp arm (44) toalso cauterize the tissue. While some configurations for an acoustictransmission assembly and transducer assembly (12) have been described,still other suitable configurations for an acoustic transmissionassembly and transducer assembly (12) will be apparent to one orordinary skill in the art in view of the teachings herein. Similarly,other suitable configurations for end effector (40) will be apparent tothose of ordinary skill in the art in view of the teachings herein.

B. Exemplary Shaft Assembly and Articulation Section

Shaft assembly (30) of the present example extends distally from handleassembly (20). As shown in FIGS. 2-7, shaft assembly (30) includesdistal outer sheath (33) and a proximal outer sheath (32) that encloseclamp arm (44) drive features and the above-described acoustictransmission features. Shaft assembly (30) further includes anarticulation section (130), which is located at a distal portion ofshaft assembly (30), with end effector (40) being located distal toarticulation section (130). As shown in FIG. 1, a knob (31) is securedto a proximal portion of proximal outer sheath (32). Knob (31) isrotatable relative to body (22), such that shaft assembly (30) isrotatable about the longitudinal axis defined by outer sheath (32),relative to handle assembly (20). Such rotation may provide rotation ofend effector (40), articulation section (130), and shaft assembly (30)unitarily. Of course, rotatable features may simply be omitted ifdesired.

Articulation section (130) is operable to selectively position endeffector (40) at various lateral deflection angles relative to alongitudinal axis defined by outer sheath (32). Articulation section(130) may take a variety of forms. By way of example only, articulationsection (130) may be configured in accordance with one or more teachingsof U.S. Pub. No. 2012/0078247, the disclosure of which is incorporatedby reference herein. As another merely illustrative example,articulation section (130) may be configured in accordance with one ormore teachings of U U.S. Pub. No. 2014/0005701 and/or U.S. Pub. No.2014/0114334, the disclosures of which are incorporated by referenceherein. Various other suitable forms that articulation section (130) maytake will be apparent to those of ordinary skill in the art in view ofthe teachings herein.

As best seen in FIGS. 2-6B articulation section (130) of this examplecomprises a set of three retention collars (133) and a pair of ribbedbody portions (132, 134), with a pair of articulation bands (140, 142)extending along respective channels (135, 137) defined between interiorsurfaces of retention collars (133) and exterior surfaces of ribbed bodyportions (132, 134). Ribbed body portions (132, 134) are longitudinallypositioned between flanges (136, 138) of flexible portion (166) ofwaveguide (180). In some versions, ribbed body portions (132, 134) snaptogether about flexible portion (166) of waveguide (180). Ribbed bodyportions (132, 134) are configured to flex with flexible portion (166)of waveguide (180) when articulation section (130) bends to achieve anarticulated state.

FIG. 3 shows ribbed body portions (132, 134) in greater detail. In thepresent example, ribbed body portions (132, 134) are formed of aflexible plastic material, though it should be understood that any othersuitable material may be used. Ribbed body portion (132) comprises a setof three ribs (150) that are configured to promote lateral flexing ofribbed body portion (132). Of course, any other suitable number of ribs(150) may be provided. Ribbed body portion (132) also defines a channel(135) that is configured to receive articulation band (140) whileallowing articulation band (140) to slide relative to ribbed bodyportion (132). Similarly, ribbed body portion (134) comprises a set ofthree ribs (152) that are configured to promote lateral flexing ofribbed body portion (134). Of course, any other suitable number of ribs(152) may be provided. Ribbed body portion (134) also defines a channel(137) that is configured to receive articulation band (142) whileallowing articulation band (142) to slide relative to ribbed bodyportion (137).

As best seen in FIG. 5, ribbed body portions (132, 134) are laterallyinterposed between articulation bands (140, 142) and flexible portion(166) of waveguide (180). Ribbed body portions (132, 134) mate with eachother such that they together define an internal passage sized toaccommodate flexible portion (166) of waveguide (180) without contactingwaveguide (180). In addition, when ribbed body portions (132, 134) arecoupled together, a pair of complementary distal notches (131A, 131B)formed in ribbed body portions (132, 134) align to receive a pair ofinwardly projecting resilient tabs (38) of distal outer sheath (33).This engagement between tabs (38) and notches (131A, 131B)longitudinally secures ribbed body portions (132, 134) relative todistal outer sheath (33). Similarly, when ribbed body portions (132,134) are coupled together, a pair of complementary proximal notches(139A, 139B) formed in ribbed body portions (132, 134) align to receivea pair of inwardly projecting resilient tabs (37) of proximal outersheath (32). This engagement between tabs (37) and notches (139A, 139B)longitudinally secures ribbed body portions (132, 134) relative toproximal outer sheath (32). Of course, any other suitable kinds offeatures may be used to couple ribbed body portions (132, 134) withproximal outer sheath (32) and/or distal outer sheath (33).

The distal ends of articulation bands (140, 142) are unitarily securedto upper distal shaft element (172). When articulation bands (140, 142)translate longitudinally in an opposing fashion, this will causearticulation section (130) to bend, thereby laterally deflecting endeffector (40) away from the longitudinal axis of shaft assembly (30)from a straight configuration as shown in FIG. 6A to an articulatedconfiguration as shown in FIG. 6B. In particular, end effector (40) willbe articulated toward the articulation band (140, 142) that is beingpulled proximally. During such articulation, the other articulation band(140, 142) may be pulled distally by upper distal shaft element (172).Alternatively, the other articulation band (140, 142) may be drivendistally by an articulation control. Ribbed body portions (132, 134) andnarrowed section (164) are all sufficiently flexible to accommodate theabove-described articulation of end effector (40). Furthermore, flexibleacoustic waveguide (166) is configured to effectively communicateultrasonic vibrations from waveguide (180) to blade (160) even whenarticulation section (130) is in an articulated state as shown in FIG.6B.

As best seen in FIG. 3, each flange (136, 138) of waveguide (180)includes a respective pair of opposing flats (192, 196). Flats (192,196) are oriented along vertical planes that are parallel to a verticalplane extending through narrowed section (164) of flexible portion(166). Flats (192, 196) are configured to provide clearance forarticulation bands (140, 142). In particular, flats (196) of proximalflange (138) accommodate articulation bands (140, 142) between proximalflange (138) and the inner diameter of proximal outer sheath (32): whileflats (192) of distal flange (136) accommodate articulation bands (140,142) between distal flange (136) and the inner diameter of distal outersheath (33). Of course, flats (192, 196) could be substituted with avariety of features, including but not limited to slots, channels, etc.,with any suitable kind of profile (e.g., square, flat, round, etc.). Inthe present example, flats (192, 196) are formed in a milling process,though it should be understood that any other suitable process(es) maybe used. Various suitable alternative configurations and methods offorming flats (192, 196) will be apparent to those of ordinary skill inthe art in view of the teachings herein. It should also be understoodthat waveguide (180) may include flats formed in accordance with atleast some of the teachings of U.S. Pub. No. 2013/0289592, entitled“Ultrasonic Device for Cutting and Coagulating,” filed Apr. 23, 2013,the disclosure of which is incorporated by reference herein.

In the present example, outer rings (133) are located at longitudinalpositions corresponding to ribs (150, 152), such that three rings (133)are provided for three ribs (150, 152). Articulation band (140) islaterally interposed within channel (135) between rings (133) and ribbedbody portion (132); while articulation band (142) is laterallyinterposed within channel (137) between rings (133) and ribbed bodyportion (134). Rings (133) are configured to keep articulation bands(140, 142) in a parallel relationship, particularly when articulationsection (130) is in a bent configuration (e.g., similar to theconfiguration shown in FIG. 6B). In other words, when articulation band(140) is on the inner diameter of a curved configuration presented by abent articulation section (130), rings (133) may retain articulationband (140) such that articulation band (140) follows a curved path thatcomplements the curved path followed by articulation band (142). Itshould be understood that channels (135, 137) are sized to accommodaterespective articulation bands (140, 142) in such a way that articulationbands (140, 142) may still freely slide through articulation section(130), even with rings (133) being secured to ribbed body portions (150,152). It should also be understood that rings (133) may be secured toribbed body portions (132, 134) in various ways, including but notlimited to interference fitting, adhesives, welding, etc.

When articulation bands (140, 142) are translated longitudinally in anopposing fashion, a moment is created and applied to a distal end ofdistal outer sheath (33) via upper distal shaft element (172). Thiscauses articulation section (130) and narrowed section (164) of flexibleportion (166) of waveguide (180) to articulate, without transferringaxial forces in articulation bands (140, 142) to waveguide (180). Itshould be understood that one articulation band (140, 142) may beactively driven distally while the other articulation band (140, 142) ispassively permitted to retract proximally. As another merelyillustrative example, one articulation band (140, 142) may be activelydriven proximally while the other articulation band (140, 142) ispassively permitted to advance distally. As yet another merelyillustrative example, one articulation band (140, 142) may be activelydriven distally while the other articulation band (140, 142) is activelydriven proximally. Various suitable ways in which articulation bands(140, 142) may be driven will be apparent to those of ordinary skill inthe art in view of the teachings herein.

As best seen in FIG. 9, an articulation control assembly (100) issecured to a proximal portion of outer sheath (32). Articulation controlassembly (100) comprises a housing (110) and a rotatable knob (120).Housing (110) comprises a pair of perpendicularly intersectingcylindrical portions (112, 114). Knob (120) is rotatably disposed withina first hollow cylindrical portion (112) of housing (110) such that knob(120) is operable to rotate within cylindrical portion (112) of housing(110). Shaft assembly (30) is slidably and rotatably disposed within asecond cylindrical portion (114). Shaft assembly (30) comprises a pairof translatable members (161, 162), both of which extend slidably andlongitudinally through the proximal portion of outer sheath (32).Translatable members (161, 162) are longitudinally translatable withinsecond cylindrical portion (114) between a distal position and aproximal position. Translatable members (161, 162) are mechanicallycoupled with respective articulation bands (140, 142) such thatlongitudinal translation of translatable member (161) causeslongitudinal translation of articulation band (140), and such thatlongitudinal translation of translatable member (162) causeslongitudinal translation of articulation band (142).

Knob (120) comprises a pair of pins (122, 124) extending downwardly froma bottom surface of knob (120). Pins (122, 124) extend into secondcylindrical portion (114) of housing (110) and are rotatably andslidably disposed within a respective pair of channels (163, 164) formedin top surfaces of translatable members (161, 162). Channels (163, 164)are positioned on opposite sides of an axis of rotation of knob (120),such that rotation of knob (120) about that axis causes opposinglongitudinal translation of translatable members (161, 162). Forinstance, rotation of knob (120) in a first direction causes distallongitudinal translation of translatable member (161) and articulationband (140), and proximal longitudinal translation of translatable member(162) and articulation band (142); and rotation of knob (120) in asecond direction causes proximal longitudinal translation oftranslatable member (161) and articulation band (140), and distallongitudinal translation of translatable member (162) and articulationband (142). Thus, it should be understood that rotation of rotation knob(120) causes articulation of articulation section (130).

Housing (110) of articulation control assembly (100) comprises a pair ofset screws (111, 113) extending inwardly from an interior surface offirst cylindrical portion (112). With knob (120) rotatably disposedwithin first cylindrical portion (112) of housing (110), set screws(111, 113) are slidably disposed within a pair of arcuate channels (121,123) formed in knob (120). Thus, it should be understood that rotationof knob (120) will be limited by movement of set screws (111, 113)within channels (121, 123). Set screws (111, 113) also retain knob (120)in housing (110), preventing knob (120) from traveling vertically withinfirst cylindrical portion (112) of housing (110).

An interior surface of first cylindrical portion (112) of housing (110)comprises a first angular array of teeth (116) and a second angulararray of teeth (118) formed in an interior surface of first cylindricalportion (112). Rotation knob (120) comprises a pair of outwardlyextending engagement members (126, 128) that are configured to engageteeth (116, 118) of first cylindrical portion (112) in a detentrelationship to thereby selectively lock knob (120) in a particularrotational position. The engagement of engagement members (126, 128)with teeth (116, 118) may be overcome by a user applying sufficientrotational force to knob (120); but absent such force, the engagementwill suffice to maintain the straight or articulated configuration ofarticulation section (130). It should therefore be understood that theability to selectively lock knob (120) in a particular rotationalposition lock will enable an operator to selectively lock articulationsection (130) in a particular deflected position relative to thelongitudinal axis defined by outer sheath (32).

In some versions of instrument (10), articulation section (130) of shaftassembly (30) is operable to achieve articulation angles up to betweenapproximately 15° and approximately 30°, both relative to thelongitudinal axis of shaft assembly (30) when shaft assembly (30) is ina straight (non-articulated) configuration. Alternatively, articulationsection (130) may be operable to achieve any other suitable articulationangles.

In some versions of instrument (10), narrowed section (164) of waveguide(180) has a thickness between approximately 0.01 inches andapproximately 0.02 inches. Alternatively, narrowed section (164) mayhave any other suitable thickness. Also in some versions, narrowedsection (164) has a length of between approximately 0.4 inches andapproximately 0.65 inches. Alternatively, narrowed section (164) mayhave any other suitable length. It should also be understood that thetransition regions of waveguide (180) leading into and out of narrowedsection (164) may be quarter rounded, tapered, or have any othersuitable configuration.

In some versions of instrument (10), flanges (136, 138) each have alength between approximately 0.1 inches and approximately 0.2 inches.Alternatively, flanges (136, 138) may have any other suitable length. Itshould also be understood that the length of flange (136) may differfrom the length of flange (138). Also in some versions, flanges (136,138) each have a diameter between approximately 0.175 inches andapproximately 0.2 inches. Alternatively, flanges (136, 138) may have anyother suitable outer diameter. It should also be understood that theouter diameter of flange (136) may differ from the outer diameter offlange (138).

While the foregoing exemplary dimensions are provided in the context ofinstrument (10) as described above, it should be understood that thesame dimensions may be used in any of the other examples describedherein. It should also be understood that the foregoing exemplarydimensions are merely optional. Any other suitable dimensions may beused.

II. Exemplary Alternative Features for Selectively Locking ArticulationSection

In some versions of instrument (10) it may be desirable to providefeatures that are configured to selectively lock articulation section(130) at a selected state of articulation. For instance, whenarticulation section (130) is in a straight configuration, it may bedesirable to lock articulation section (130) in the straightconfiguration in order to prevent inadvertent lateral deflection of endeffector (40) at articulation section (130). Similarly, whenarticulation section (130) is bent to a selected articulation angle, itmay be desirable to lock articulation section (130) at that selectedarticulation angle in order to prevent inadvertent lateral deflection ofend effector (40) way from that selected articulation angle atarticulation section (130). Various examples of features that areconfigured to selectively lock articulation section (130) at a selectedstate of articulation will be described in greater detail below. Otherexamples will be apparent to those of ordinary skill in the artaccording to the teachings herein.

A. Articulation Control Assembly with Resiliently Biased Locking Paddleon Knob

FIGS. 11-12B show an exemplary articulation control assembly (200) thatmay be readily incorporated into instrument (10) in place ofarticulation control assembly (100). Except as otherwise describedbelow, articulation control assembly (200) is configured and operablejust like articulation control assembly (100) described above.Articulation control assembly (200) of this example comprises a housing(210) and a knob (220). Rotation of rotation knob (220) relative tohousing (210) causes articulation of an articulation section of a shaftassembly, such as articulation section (130) of shaft assembly (30).Articulation control assembly (200) of this example further comprises alocking feature (230) that is configured to selectively prevent therotation of knob (220). It should be understood that, by preventingrotation of knob (220), locking feature (230) further preventsarticulation of the articulation section of the shaft assembly. Lockingfeature (230) may be used in lieu of, or in addition to, other featuresdiscussed herein that selectively prevent rotation of knob (220); andthat selectively lock articulation section (130) in a particulardeflected position relative to the longitudinal axis defined by outersheath (32).

As shown in FIGS. 11-12B, locking feature (230) of the present exampleincludes a paddle (232), a lever member (234), a lock arm (236), and aspring (238). In the present example, paddle (232) is operably coupledto lever member (234) at pivot point (238). Paddle (232) and levermember (234) together form an oblique angle at pivot point (238). Pivotpoint (238) provides a pivotal coupling of paddle (232) and lever member(234) to the underside of knob (220). Paddle (232) and lever member(234) are rigidly coupled together such that the pivoting of paddle(232) about pivot point (238) causes lever member (234) to rotate orpivot in the same direction about pivot point (238). In particular,paddle (232) and lever member (234) are pivotable between a firstposition (FIG. 12A) and a second position (FIG. 12B). In the firstposition, paddle (232) is oriented obliquely relative to a verticalplane (going into and out of the page in the views shown in FIGS.12A-12B) that is defined by knob (220); while lever member (234) extendsalong the vertical plane defined by knob (220). In the second position,paddle (232) extends along the vertical plane defined by knob (220);while lever member (234) is oriented obliquely relative to the verticalplane defined by knob (220).

Lever member (234) is pivotably coupled to lock arm (236). Lock arm(236) is resiliently biased toward inner wall (242) housing (210) byspring (238). In the locked configuration (FIG. 12A), lock arm (236)positively engages housing (210) and thereby prevents rotation of knob(220) relative to housing (210). Lock arm (236) is configured totranslate along a path that is transverse to the vertical plane definedby knob (220). In particular, lock arm (236) translates along this pathin response to pivoting of paddle (232) and lever member (234) betweenthe first and second positions as described above. By way of exampleonly, the underside of knob (220) may include a channel that is sized toreceive and guide lock arm (236) in order to keep lock arm (236) on thislinear path of travel. As another merely illustrative example, one ormore guiding features (e.g., rails, etc.), may be configured to receiveand guide lock arm (236) in order to keep lock arm (236) on this linearpath of travel.

In the example shown, lock arm (236) includes a pointed end (240) thatis configured to frictionally engage an inner wall (242) of housing(210). In some examples, inner wall (242) of housing (210) includes oneor more features to enhance the positive engagement between lock arm(236) and housing (210). For example, inner wall (242) of housing (210)may include notches, splines, detents, frictional coatings, frictionalsurface treatments, etc., with which the lock arm (236) may engage. Itshould also be understood that pointed end (240) may include anelastomeric material and/or any other suitable feature(s) to promote alocking relationship between pointed end (240) and inner wall (242) ofhousing (210).

When articulation control assembly (200) is in the configuration shownin FIG. 12A, articulation control assembly (200) is in a locked statedue to engagement between pointed end (240) of lock arm (242) and innerwall (242) of housing (210). This locked state provides locking of thearticulation state of the articulation section of the shaft assembly,regardless of whether the articulation section is in a straightconfiguration or a bent configuration. In order to unlock articulationcontrol assembly (200) in order to change the articulation state of thearticulation section, an operator may drive paddle (232) from theposition shown in FIG. 12A to the position shown in FIG. 12B by pinchingpaddle (232) toward knob (220). This causes paddle (232) to pivot aboutpivot point (238) toward knob (220), which in turn causes pivoting oflever member (234) in the same angular direction about pivot point(238). This pivoting of lever member (234) pulls lock arm (236) awayfrom inner wall (242) of housing (210), such that pointed end (240)disengages inner wall (242) of housing (210). With pointed end (240)disengaged from inner wall (242) of housing (210), articulation controlassembly (200) is in an unlocked state, such that knob (220) may berotated relative to housing (210) to change the articulation state ofthe articulation section of the shaft assembly.

Once the user has reached the desired articulation state, the operatormay release paddle (232). When the operator releases paddle (232), theresilience of spring (238) may return lock arm (236), lever member(234), and paddle (232) back to the locked configuration (FIG. 12A). Thearticulation section will thus be re-locked at the adjusted articulationstate.

B. Articulation Control Assembly with Upwardly Biased Clutching Lock

FIGS. 13-14 show another exemplary articulation control assembly (300)that may be readily incorporated into instrument (10) in place ofarticulation control assembly (100). Except as otherwise describedbelow, articulation control assembly (300) is configured and operablejust like articulation control assembly (100) described above.Articulation control assembly (300) of this example comprises a housing(310) and a knob (320). Rotation of rotation knob (320) relative tohousing (310) causes articulation of an articulation section of a shaftassembly, such as articulation section (130) of shaft assembly (30).Articulation control assembly (300) of this example further comprises alocking feature (330) that is configured to selectively prevent therotation of knob (320). It should be understood that, by preventingrotation of knob (320), locking feature (330) further preventsarticulation of the articulation section of the shaft assembly. Lockingfeature (330) may be used in lieu of, or in addition to, other featuresdiscussed herein that selectively prevent rotation of knob (320); andthat selectively lock articulation section (130) in a particulardeflected position relative to the longitudinal axis defined by outersheath (32).

As shown in FIGS. 13-13B, locking feature (330) of the present exampleincludes a plurality of female spline features (332) disposed on housing(310), and a male spline feature (334) coupled to knob (320). Femalespline features (332) are more particularly defined as recesses disposedcircumferentially and presented downwardly along an annular lip (338)(FIG. 14) that surrounds a body portion (340) of knob (320) (when knobis received within housing (310)). Male spline feature (334) includes afirst portion (334 a) that extends radially outwardly from body portion(340) and a second portion (334 b) that extends upwardly, perpendicularto the first portion (334 b). While only one male spline feature (334)is shown, it should be understood that body portion (340) may includetwo more male spline features (334). For instance, a plurality of malespline features (334) may be angularly spaced along at least a portionof the perimeter of body portion (340). It should also be understoodthat female spline features (332) may be angularly spaced along anysuitable angular range along the circumference of annular lip (338).

As shown, female and male spline members (334, 332) are similarly shapedsuch that the female spline members (332) are defined as cavities havingshapes that complement the end (339) of the male spline feature (334).FIG. 13A shows male spline feature (334) received in female splinefeature (332). In this state, locking feature (330) prevents knob (320)from rotating relative to housing (310), thereby locking articulationsection (130) in its current articulated (or non-articulated) positionrelative to the longitudinal axis defined by outer sheath (32). In thepresent example, female spline feature (332) and end (339) of malespline features (334) define pyramidal shapes with pointed portions. Insome other examples, spline features (332, 334) are substituted with aplurality of complementary teeth arranged in a starburst pattern.Various suitable other ways in which spline features (332, 334) may bemay be configured will be apparent to those of ordinary skill in the artin view of the teachings herein.

In the present example, a resilient element (336) biases knob (320)upwardly into a position where an end (339) of male spline feature (334)is received with and engages one of the female spline features (332),thereby preventing the rotation of knob (320) relative to housing (310).Resilient element (336) may comprise a coil spring, a wave spring, aleaf spring, and/or any other suitable kind of resilient feature. Insome examples, locking feature (330) may be configured to act as aslipping clutch mechanism. That is, in some such examples, theengagement of male spline feature (334) with one of the female splinefeatures (332) may be overcome by a user applying sufficient rotationalforce to knob (320); but absent such force, the engagement will sufficeto maintain the straight or articulated configuration of articulationsection (130). It should therefore be understood that the ability toselectively lock knob (320) in a particular rotational position willprovide selective locking of articulation section (130) in a particulardeflected position relative to the longitudinal axis defined by outersheath (32).

In some other examples, the male spline feature (334) and female splinefeatures (332) are configured such that that it is difficult to overcomethat engagement between male spline feature (334) and female splinefeatures (332) by simply providing a rotational force to knob (320); orsuch that the rotational force required to overcome the engagement maycause unintended damage to one or more components of the instrument(10). Such a configuration, where a relatively higher rotational forceis required to rotate knob (320), may be provided for the prevention ofunintended articulation as a result of inadvertent rotation of knob(320).

In the example shown, in order to enable rotation of knob (320), theoperator must press knob (320) in a direction (defined by arrow (341)),along an axis that is perpendicular to the longitudinal axis of shaftassembly (30). In the present example, knob (320) is pressed along thesame axis about which knob (320) is rotated in order to drivearticulation of articulation section (130). When the user depresses knob(320) with a sufficient force to overcome the bias of a resilientelement (336), end (339) of male spline feature (334) disengages fromfemale spline feature (332) as shown in FIG. 13B. Knob (320) is thenfree to rotate relative to housing (310) as the operator continues topress downwardly on knob (320). In examples where the engagement betweenmale spline feature (334) and female spline features (332) may beovercome by applying sufficient rotational disengagement force to knob(320), the rotational force required to rotate the knob (320) in theunlocked configuration is less than the rotational force required todisengage male spline feature (334) from female spline feature (332).

When the operator rotates knob (320) while knob (320) is in thedownward, unlocked position, such rotation of knob (320) causes thearticulation of articulation section (130). Once the user hasarticulated articulation section (130) a desired amount (whether to orfrom an articulated state), the user may release the downward force (inthe direction of arrow (341)) on knob (320). Resilient element (336)will then resiliently urge knob (320) back to the locked configurationof FIGS. 13 and 13A, such that articulation section (130) is locked inthe adjusted articulation state relative to the longitudinal axisdefined by outer sheath (32). In some examples, the operator may need toensure the proper alignment of corresponding male spline feature (334)and a particular female spline feature (332) to enable the knob (320) toreturn to the locked configuration. However, in some examples, lockingfeature (330) may be configured to circumferentially align correspondingmale spline feature (334) with a circumferentially adjacent femalespline feature (332) to ensure a smooth transition to the lockedconfiguration. In other words, spline features (332, 334) may beconfigured to self-align with each other. Various suitable ways in whichlocking feature (330) may be may be configured will be apparent to thoseof ordinary skill in the art in view of the teachings herein.

C. Articulation Control Assembly with Downwardly Biased Clutching Lock

FIGS. 15A-17 show another exemplary articulation control assembly (400)that may be readily incorporated into instrument (10) in place ofarticulation control assembly (100). Except as otherwise describedbelow, articulation control assembly (400) is configured and operablejust like articulation control assembly (100) described above.Articulation control assembly (400) of this example comprises a housing(410) and a knob (420). Rotation of rotation knob (420) relative tohousing (410) causes articulation of an articulation section of a shaftassembly, such as articulation section (130) of shaft assembly (30).Articulation control assembly (400) of this example further comprises alocking feature (430) that is configured to selectively prevent therotation of knob (420). It should be understood that, by preventingrotation of knob (420), locking feature (430) further preventsarticulation of the articulation section of the shaft assembly. Lockingfeature (430) may be used in lieu of, or in addition to, other featuresdiscussed herein that selectively prevent rotation of knob (420); andthat selectively lock articulation section (130) in a particulardeflected position relative to the longitudinal axis defined by outersheath (32). Locking feature (430) is shown in a locked configuration inFIG. 15A and an unlocked configuration in FIG. 15B.

Locking feature (430) of the present example comprises a plurality ofmale spline features (432) and a plurality of female spline features(436). As best seen in FIG. 15B, male spline features (432) extenddownwardly (direction defined by defined by arrow (438)) from lip (434)of knob (420). As best seen in FIG. 16, male spline features (432) areangularly spaced in an annular array along the underside of lip (434).Male spline features (432) of the present example are generallyrectangular in shape. Alternatively, male spline features (432) mayinstead have a pyramidal shape, a starburst configuration, and/or anyother suitable configuration.

As best seen in FIG. 15B, female spline features (436) comprise recessesthat are formed in an upwardly facing surface (412) of housing (410). Asbest seen in FIG. 17, female spline features (436) are angularly spacedin an annular array along upwardly facing surface (412) with spacingthat complements the spacing of male spline features (432). Femalespline features (436) are shaped similarly to male spline features (432)such that female spline features (436) define generally rectangularrecesses, and are spaced apart from one another circumferentially suchthat female spline features (436) may receive correspondingly shaped andangularly spaced male spline features (432) as shown in FIG. 15A. In thepresent example, there are an equal number of male and female splinefeatures (432, 436). However, in other examples, there may be fewer malespline features (432) than female spline features (436), provided thatthe male spline features (432) are configured to be received incorresponding female spline features (436) (e.g., proper sizing andangular spacing). When male spline features (432) are positioned infemale spline features (436), the engagement between spline features(432, 436) prevents knob (420) from rotating relative to housing (410).Thus, when locking feature (430) is in a locked state due to engagementbetween spline features (432, 436), locking feature (430) locks thearticulation section at its current state of articulation relative tothe longitudinal axis of the shaft assembly.

In the present example, a pair of coil springs (440) is operably coupledto knob (420) via a pair of links (441) that resiliently bias knob (420)downwardly (in the direction defined by arrow (438)). Springs (440) thusbias knob (420) and male spline features (432) into the locked positionshown in FIG. 15A. Due to the engagement between male and female splinefeatures (432, 436), knob (420) is unable to rotate relative to housing(410). Of course, any other suitable kind of resilient member(s) may beused in addition to or in lieu of coil springs (440).

In some examples, locking feature (430) may be configured to act as aslipping clutch mechanism such that a sufficient amount of angular forceon knob (420) causes male spline features (432) to slip between femalespline features (436). In some such examples, male and/or female splinefeatures (432, 436) may include ramped or cammed surfaces to enable theslipping clutch action therebetween. In some such examples, theengagement of male spline features (432) with one of the female splinefeatures (436) may be overcome by a user applying sufficient rotationalforce to knob (420); but absent such force, the engagement will sufficeto maintain the straight or articulated configuration of articulationsection (130). It should therefore be understood that the ability toselectively lock knob (420) in a particular rotational position lockwill enable an operator to selectively lock articulation section (130)in a particular deflected position relative to the longitudinal axisdefined by outer sheath (32).

In the example shown, in order to enable rotation of knob (420), theoperator must pull knob (420) in the direction of arrow (442) along anaxis that is perpendicular to the longitudinal axis of shaft assembly(30), into the unlocked configuration shown in FIG. 15B. In the presentexample, knob (420) is pulled along the same axis about which knob (420)is rotated in order to drive articulation of articulation section (130).As shown, in the unlocked configuration, male spline features (432) aredisengaged from female spline features (436) (i.e., male spline features(432) are spaced from female spline features (436)). Thus, in theunlocked configuration, knob (420) is able to rotate relative to housing(410) along an axis that is perpendicular to the longitudinal axis ofouter sheath (32) and cause articulation of articulation section (130),for example. In examples where the engagement between male splinefeatures (432) and female spline features (436) may be overcome byapplying sufficient rotational disengagement force to knob (420), therotational force required to rotate the knob (420) in the unlockedconfiguration is less than the rotational force required to disengagemale spline features (432) from female spline features (436).

When the operator rotates knob (420) while knob (420) is in the upward,unlocked position, such rotation of knob (420) causes the articulationof articulation section (130). Once the user has articulatedarticulation section (130) a desired amount (whether to or from anarticulated state), the user may release the upward force on knob (420).Springs (440) will then resiliently urge knob (420) back to the lockedconfiguration of FIG. 15A, such that articulation section (130) islocked in the adjusted articulation state relative to the longitudinalaxis defined by outer sheath (32). In some examples, the operator mayneed to ensure the proper alignment of male spline features (432) withfemale spline features (436) to enable the knob (420) to return to thelocked configuration. However, in some examples, locking feature (430)may be configured to circumferentially align male spline features (432)with circumferentially adjacent female spline features (332) to ensure asmooth transition to the locked configuration. In other words, splinefeatures (432, 436) may be configured to self-align with each other.Various suitable ways in which locking feature (430) may be may beconfigured will be apparent to those of ordinary skill in the art inview of the teachings herein.

D. Articulation Control Assembly with Button Actuated Locking Feature

FIGS. 18-19B show another exemplary articulation control assembly (500)that may be readily incorporated into instrument (10) in place ofarticulation control assembly (100). Except as otherwise describedbelow, articulation control assembly (500) is configured and operablejust like articulation control assembly (100) described above.Articulation control assembly (500) of this example comprises a housing(510) and a knob (520). Rotation of rotation knob (520) relative tohousing (510) causes articulation of an articulation section of a shaftassembly, such as articulation section (130) of shaft assembly (30).Articulation control assembly (500) of this example further comprises alocking feature (530) that is configured to selectively prevent therotation of knob (520). It should be understood that, by preventingrotation of knob (520), locking feature (530) further preventsarticulation of the articulation section of the shaft assembly. Lockingfeature (530) may be used in lieu of, or in addition to, other featuresdiscussed herein that selectively prevent rotation of knob (520); andthat selectively lock articulation section (130) in a particulardeflected position relative to the longitudinal axis defined by outersheath (32).

In the present example, locking feature (530) comprises a button (532)that is operably coupled to a shaft (534). Shaft (534) is slidablyreceived in knob (520) along the same axis about which knob (520)rotates relative to housing (510). Shaft (534) has a first portion (534a), a second portion (534 b), and a third portion (534 c). Button (532)is positioned on top of first portion (534 a) and is configured toprotrude above the upper surface of knob (520) to enable an operator toreadily depress button (532) as described below. As shown, first portion(534 a) of shaft (534) and button (532) are shown to be separatecomponents, but in other examples, button (532) may be unitarily formedwith shaft (534). As shown, second portion (534 b) of shaft (534)includes a smaller cross-sectional dimension (e.g., diameter) than thefirst and second portions (534 a, 534 c). Locking feature (430) furthercomprises a resilient feature (536), which in the present example isshown as a coil spring, but in other examples may be other types ofresilient features. Resilient feature (536) biases shaft (534) upwardlyinto the position shown in FIG. 19A, whereby locking feature (530) is ina locked configuration.

In the present example, locking feature (530) further comprises a pairof outwardly extending engagement members (526, 528) including pointedends (526 a, 528 a). Housing (510) includes a first cylindrical portion(512) that has inwardly presented teeth (516, 518). Teeth (516, 518) areconfigured to complement engagement members (526, 528). In particular,engagement members (526, 528) are configured to engage teeth (516, 518)in a detent relationship to thereby selectively lock the rotationalposition of knob (520) relative to housing (510). Engagement members(526, 528) and teeth (516, 518) are configured to operate substantiallysimilar to engagement members (126, 128) with teeth (116, 118) asdescribed above. However, in the present example, engagement members(526, 528) are retractable radially inwardly to disengage teeth (516,518). A set of resilient members (538, 540) bias engagement members(526, 528) inwardly. Shaft (534) selectively resists this inward bias ofengagement members (526, 528), depending on whether third portion (534c) is positioned on the same lateral plane as engagement members (526,528) or second portion (534 b) is positioned on the same lateral planeas engagement members (526, 528).

Shaft (534) translates along a vertical axis to selectively positionportions (534 b, 534 c) on the same lateral plane as engagement members(526, 528) in response to depression and release of button (532). Inparticular, when button (532) is not being depressed, shaft (534) is inan upper, home position as shown in FIG. 19A due to the bias ofresilient feature (536). In this state, third portion (534 c) of shaft(534) is positioned on the same lateral plane as engagement members(526, 528). Due to the relatively larger size of the diameter of thirdportion (534 c), third portion (534 c) holds engagement members (526,528) in an outward position, such that pointed ends (526 a, 528 a) areengaged with teeth (516, 518). This engagement between pointed ends (526a, 528 a) and teeth (516, 518) prevents knob (520) from rotatingrelative to housing (510), thereby preventing articulation section (130)from articulating relative to the rest of shaft assembly (30). Thus,articulation section (130) is locked at its current state ofarticulation when locking feature (430) is in the state shown in FIG.19A.

In order to unlock knob (520), and thereby unlock articulation section(130), the operator may press button (532) downwardly (in the directionof arrow (538)). When button (532) is depressed downwardly, shaft (534)overcomes the bias of resilient feature (536) and shaft (534) movesdownwardly. As shaft (534) moves downwardly, radially inward portions(526 b, 528 b) of engagement features (526, 528) ride along thirdportion (534 c) and engagement features (526, 528) are eventually urgedinwardly by resilient members (538, 540) as radially inward portions(526 b, 528 b) become coincident with second portion (534 b) of shaft(534), which has a smaller diameter than third portion (534 c) of shaft(534). As engagement features (526, 528) move inwardly as shown in FIG.19B, pointed ends (526 a, 528 a) of engagement features disengage fromteeth (516, 518), respectively, and knob (520) is free to rotaterelative to housing (510). The operator may thus rotate knob (520) whileholding button (532) in the depressed state in order to adjust thearticulation state of articulation section (130).

Once the operator has adjusted the articulation state of articulationsection (130) to a desired amount (whether to or from an articulatedstate), the operator releases button (532). When the operator releasesbutton (532), resilient feature (536) urges button (532) and shaft (534)upwardly (in a direction opposite to arrow (538)). As shaft (534)travels upwardly, third portion (534 c) of shaft (534) eventuallyengages radially inward portions (526 b, 528 b) of engagement features(526, 528), thereby driving engagement features (526, 528) outwardlyback to the positions shown in FIG. 19A. Engagement features (526, 528)thus re-engage teeth (516, 518) respectively, thereby re-locking therotational position of knob (520) relative to housing (510), and furtherthereby locking the adjusted articulation state of articulation section(130). While shaft (534) is shown as providing a stepped transitionbetween portions (534 b, 534 c), it should be understood that shaft(534) may instead provide a tapered transition between portions (534 b,534 c). Radially inner portions (526 b, 528 b) of engagement members(526, 528) may slidably cam along such a tapered transition portionduring the transition between the locked configuration (FIGS. 18, 19A)and unlocked configuration (FIG. 19B). Various other suitable ways inwhich locking feature (430) may be may be configured will be apparent tothose of ordinary skill in the art in view of the teachings herein.

E. Articulation Control Assembly with Biased and Keyed Locking Feature

FIGS. 20-25 show another exemplary articulation control assembly (600)that may be readily incorporated into instrument (10) in place ofarticulation control assembly (100). Except as otherwise describedbelow, articulation control assembly (600) is configured and operablejust like articulation control assembly (100) described above.Articulation control assembly (600) of this example comprises a housing(610) and a knob (620). Rotation of rotation knob (620) relative tohousing (610) causes articulation of an articulation section of a shaftassembly, such as articulation section (130) of shaft assembly (30).Articulation control assembly (600) of this example further comprises alocking feature (630) that is configured to selectively prevent therotation of knob (620). It should be understood that, by preventingrotation of knob (620), locking feature (630) further preventsarticulation of the articulation section of the shaft assembly. Lockingfeature (630) may be used in lieu of, or in addition to, other featuresdiscussed herein that selectively prevent rotation of knob (620); andthat selectively lock articulation section (130) in a particulardeflected position relative to the longitudinal axis defined by outersheath (32).

As best seen in FIG. 20, locking feature (630) of the present exampleincludes a generally annular locking plate (632), a coil spring (634),and a wave spring (636). Annular locking plate (632) includes a radiallyouter edge (638), a radially inner edge (640), a first side (642) and asecond side (644) (FIGS. 24A-B). Annular locking plate (632) furtherincludes a pair of opposing male keying features (646 a, 646 b)extending radially outwardly from outer edge (638), a set of firstlocking teeth (648), and a set of second locking teeth (650). Each setof teeth (648, 650) has a sawtooth configuration and extends along onlya respective portion of the angular range of first side (642).

Different components of the locking feature (630) are also included onthe knob (620) and housing (610). In particular, and as best seen inFIG. 21, knob (620) includes a first surface (669) and a second surface(670). A handle (672) extends upwardly from first surface (669). Teeth(666, 668) extend downwardly from second surface (670). Tooth (666) isangularly separated from tooth (668) by 180°. Teeth (666, 668) each havea sawtooth configuration such that teeth (666, 668) are configured toengage locking teeth (648, 650), respectively, to selectively lock therotational position of knob (620) relative to housing (610). Thecomplementary sawtooth configuration of tooth (666) and teeth (650) issuch that tooth (666) may slide along teeth (650) in a ratchetingfashion as knob (620) is rotated in a first angular direction, yet theconfiguration of teeth (666, 650) will prevent knob (620) from rotatingin a second angular direction (opposite to the first angular direction)when teeth (666, 650) are engaged. Likewise, the complementary sawtoothconfiguration of tooth (668) and teeth (648) is such that tooth (668)may slide along teeth (648) in a ratcheting fashion as knob (620) isrotated in the second angular direction, yet the configuration of teeth(668, 648) will prevent knob (620) from rotating in the first angulardirection when teeth (668, 648) are engaged.

As also best seen in FIG. 21, knob (620) also includes a generallycylindrical projection (674) extending downwardly from surface (670) andhaving a chamfered edge (676). Cylindrical projection (674) isconfigured to engage a coil spring (634) as described below. Knob (620)further includes a generally hemispherical protrusion (678) extendingdownwardly from surface (670). Protrusion (678) is angularly positionedat 90° between teeth (666, 668). Protrusion (678) and handle (672) bothlie along an imaginary vertical plane (679) (FIG. 24A) that laterallybisects knob (670). Plane (678) also laterally bisects handle (672) andprotrusion (678).

In the present example, only a first cylindrical portion (612) ofhousing (610) is shown. It should be understood, however, that housing(610) may further include a second cylindrical portion (not shown) thatis configured and operable substantially similar to second cylindricalportion (114) of articulation assembly housing (110). First cylindricalportion (612) of housing (610) is defined as a generally cylindraceousbody having a generally cylindraceous cavity. Particularly, and as bestseen in FIG. 20, cylindrical portion (612) includes a radially outerwall (680), a radially inner wall (682), an upper edge (684), and agenerally circular inner surface (686). Radially inner wall (682) andinner surface (686) define a generally cylindraceous cavity (688) thatalso includes female keying features (690 a, 690 b) extending radiallyoutward therefrom. An aperture (692) extends through surface (684) andthrough outer bottom surface (688). Aperture (692) provides a path forknob (620) to couple with features like translatable members (161, 162)to thereby drive articulation bands (140, 142) in opposing longitudinaldirections in order to thereby drive articulation of articulationsection (130).

As shown best in FIGS. 20 and 22-24B, locking plate (632), coil spring(634), and wave spring (636) are received in cavity (688). Particularly,locking plate (632), coil spring (634), and wave spring (636) aresituated in cavity (688) in a coaxial arrangement. Wave spring (636)abuts surface (686). Locking plate (632) is positioned above wave spring(636) such that portions of surface (644) of locking plate (632) abutwave spring (636). Female keying portions (690 a, 690 b) of firstcylindrical portion (612) receive male keying portions (646 a, 646 b) oflocking plate (632). The relationship between keying portions (646 a,646 b, 690 a, 690 b) permits locking plate (632) to translate verticallywithin first cylindrical portion (612) but prevents locking plate (632)from rotating relative to first cylindrical portion (612). Coil spring(634) is sized such that the effective outer diameter of coil spring(634) is less than the inner diameter defined by radially inner edge(640) of locking plate (632).

Knob (620) is placed relative to the cavity (688) such that lockingplate (632) is generally interposed between knob (620) and wave spring(636). Moreover, knob (620) is placed relative to the cavity such thatsurface (669) of knob (620) is generally flush with edge (684) ofcylindrical portion (612). A retention feature (not shown) is providedin order prevent knob (620) from moving above edge (684) to a pointwhere surface (669) is above edge (684). For instance, after the abovecomponents are assembled together, a retaining ring may be placed overedge (684) to restrict upward vertical movement of knob (620) relativeto first cylindrical portion (612). Coil spring (634) is further sizedsuch that the effective inner diameter of coil spring (634) is less thanthe outer diameter of cylindrical projection (674) of knob (620). Coilspring (634) thus receives cylindrical projection (674) such thatcylindrical projection (674) maintains the axial orientation of coilspring (634) within first cylindrical member (612).

As shown in FIGS. 22-23, knob (620) is initially placed such thatlocking teeth (666, 668) are adjacent to but do not yet engage thedetent features (648, 650), respectively. Knob (620) is horizontallyoriented such that surfaces (669, 670) are parallel to sides (642, 644)of locking plate (632) and inner surface (686) of cylindrical portion(612). At this point, knob (620) is free to rotate relative to housing(610) in either a first direction or second direction about a verticalaxis (602) in order to articulate the articulation section in a first orsecond direction. For example, rotation of knob (620) from the neutralposition shown in FIGS. 22-23 in a first angular direction about axis(602) will cause articulation of the articulation section in a firstdirection. As knob (620) is rotated in the first direction, tooth (668)ratchets along teeth (648). Tooth (666) simply slides along (or movesfreely above) first side (642) of locking plate (632). When the operatorthereafter releases knob (620), engagement between teeth (668, 648) willlock the articulation section in the selected state of articulation. Inother words, engagement between teeth (668, 648) will lock articulationcontrol assembly (600), thereby locking the articulation section in anarticulated state.

Similarly, rotation of knob (620) from the neutral position shown inFIGS. 22-23 in a second angular direction about axis (602) will causearticulation of the articulation section in a second direction. As knob(620) is rotated in the second direction, tooth (666) ratchets alongteeth (650). Tooth (668) simply slides along (or moves freely above)first side (642) of locking plate (632). When the operator thereafterreleases knob (620), engagement between teeth (666, 650) will lock thearticulation section in the selected state of articulation. In otherwords, engagement between teeth (666, 650) will lock articulationcontrol assembly (600), thereby locking the articulation section in anarticulated state.

When the operator wishes to unlock articulation control assembly (600)and the articulation section (e.g., to return the articulation sectionto a straight configuration), the operator may tilt the proximal end ofknob (620) downwardly about a horizontal axis (696) as shown in FIGS.24A-25. In particular, FIG. 24A shows articulation control assembly(600) before knob (620) is tilted, while articulation control assembly(600) is still in a locked state. As the proximal end of knob (620) istilted downwardly about horizontal axis (696), protrusion (678) bearsdownwardly on first side (642) of locking plate (632), thereby drivinglocking plate (632) downwardly as shown in FIGS. 24B and 25. As lockingplate (632) is driven downwardly, whichever tooth (666, 668) that waspreviously engaged with the corresponding teeth (650, 648) willdisengage teeth (650, 648), thereby transitioning articulation controlassembly (600) to an unlocked state. While holding knob (620) in thetilted orientation, the operator may rotate knob (620) in eitherdirection about axis (602) to re-adjust the state of articulation of thearticulation section. Once the articulation section has reached thedesired re-adjusted state, the operator may release knob (620). At thispoint, the resilience of coil spring (634) will drive knob (620) back tothe horizontal orientation shown in FIGS. 22-24A.

F. Articulation Control Assembly with Resiliently Biased Control Wheeland Locking Feature

FIGS. 26A-26B show exemplary alternative articulation control assembly(700) that may be readily incorporated into instrument (10) in place ofarticulation control assembly (100). Articulation control assembly (700)of the present example is configured to articulate articulation section(130) in a substantially similar manner to articulation control assembly(100), except for the differences described below. Articulation controlassembly (700) is secured to a proximal portion of outer sheath (32) ofshaft assembly (30). Articulation control assembly (700) is locatedwithin a body (702) of a handle assembly. Except as otherwise describedherein, body (702) and the rest of the handle assembly may be configuredsimilar to body (22) and the rest of handle assembly (20) of instrument(10).

Articulation control assembly (700) of the present example includes arotatable input wheel (704) that is configured to translate and rotaterelative to body (702). Input wheel (704) includes an integral gear(706). Wheel (704) and gear (706) are rotatable about an axis (708).Wheel (704) and gear (706) are further coupled with a rigid arm (734).Arm (734) is further coupled with a pawl (732) and a resilient member(736). Resilient member (736) is mounted to body (702) and is configuredto bias wheel (704) and gear (706) to the position shown in FIG. 26A.

Articulation control assembly (700) of the present example furtherincludes a transmission gear (710), a first bevel gear (712), and asecond bevel gear (718). Transmission gear (710) and first bevel gear(712) are unitarily coupled together via a shaft (714), such that gears(710, 712) rotate together unitarily. Bevel gears (712, 718) are in ameshing relationship with each other, such that rotation of first bevelgear (712) will provide rotation of second bevel gear (718). Secondbevel gear (718) is coupled with an opposing thread transmissionassembly (720), which is further coupled with translating members (761,762). Transmission assembly (720) is configured to convert a rotaryoutput from second bevel gear (718) into opposing longitudinal motion oftranslating members (761, 762). Translating members (761, 762) arecoupled with respective articulation bands similar to articulation bands(140, 142), such that opposing longitudinal motion of translatingmembers (761, 762) provides articulation of an articulation section in ashaft assembly.

In some versions, transmission assembly (720) comprises a first nut andlead screw assembly associated with first translating member (761); anda second nut and lead screw assembly associated with second translatingmember (761). The second nut and lead screw assembly may have a threadorientation that is opposite from the thread orientation of the firstnut and lead screw assembly, such that the lead screw assemblies mayprovide opposing longitudinal motion from a single rotary input that isshared by both of the lead screw assemblies. By way of example only,transmission assembly (720) may be configured in accordance with atleast some of the teachings of U.S. Pub. No. 2013/0023868, entitled“Surgical Instrument with Contained Dual Helix Actuator Assembly,”published Jan. 24, 2013, the disclosure of which is incorporated byreference herein. Other suitable configurations for transmissionassembly (720) will be apparent to those of ordinary skill in the art inview of the teachings herein.

Articulation control assembly (700) is configured to transition betweena locked state (FIG. 26A) and a driving state (FIG. 26B). In the lockedstate, gear (706) is disengaged from gear (710) and pawl (732) isengaged with gear (710). Pawl (732) prevents gear (710) from rotating.With gear (710) locked by pawl (732), gears (712, 718) and transmissionassembly (720) are also locked. With transmission assembly (720) locked,translating members (761, 762) are also locked, thereby locking thearticulation section in its current state of articulation. If theoperator attempts to rotate wheel (704) about axis (708) whenarticulation control assembly (700) is in the locked state, wheel (704)will simply rotate freely without having any other effect.Alternatively, body (702) may include an integral pawl feature thatengages wheel (704) or gear (706) when articulation control assembly(700) is in the locked state. Such a pawl may prevent wheel (704) fromrotating when articulation control assembly (700) is in the lockedstate, thereby providing tactile feedback to the operator to indicatethat articulation control assembly (700) is in the locked state.

When the operator wishes to change the articulation state of thearticulation section (e.g., articulation section (130) described above),the operator may transition articulation control assembly (700) to thedriving state by pushing/pulling wheel (704) proximally from theposition shown in FIG. 26A to the position shown in FIG. 26B. This willeventually bring gear (706) into engagement with gear (710). Inaddition, the proximal movement of wheel (704) will be communicated topawl (732) via arm (734), such that pawl (732) will disengage gear (710)as shown in FIG. 26B. The proximal movement of arm (734) also compressesresilient member (736). With pawl (732) disengaged from gear (710), gear(710) is free to rotate. With gear (706) engaged with gear (710),rotation of wheel (704) will cause rotation of gear (710). It shouldtherefore be understood that rotation of wheel (704) will actuatetransmission assembly (720), thereby providing opposing longitudinalmotion of translating members (761, 762), when articulation controlassembly (700) is in the driving as shown in FIG. 26B. In other words,rotation of wheel (704) about axis (708) will drive articulation of thearticulation section of the shaft assembly when articulation controlassembly (700) is in the driving as shown in FIG. 26B.

Once the operator has achieved the desired state of articulation in thearticulation section of the shaft assembly, the operator may simplyrelease wheel (704). When the operator releases wheel (704), resilientmember (736) will drive wheel (704), gear (706), and pawl (732) back tothe positions shown in FIG. 26A, thereby transitioning articulationcontrol assembly (700) back to the locked state. This will lock thearticulation assembly in the adjusted state of articulation. Variousother suitable ways in which articulation control assembly (700) may beconfigured and operated will be apparent to a person skilled in the artin view of the teachings herein.

G. Articulation Control Assembly with Self-Locking Linear Cam Features

FIGS. 27A-28B show another exemplary alternative articulation controlassembly (800) that may be readily incorporated into instrument (10) inplace of articulation control assembly (100). Articulation controlassembly (800) is configured to articulate articulation section (130) ina substantially similar manner to articulation control assembly (100),except for the differences described below. Articulation controlassembly (800) is secured to a proximal portion of outer sheath (32) ofshaft assembly (30).

In the present example, articulation control assembly (800) comprises afirst collar (802), a second collar (804), and a rotatable knob (806).Rotation of knob (806) causes the articulation of articulation section(130), as discussed in more detail below. Articulation control assembly(900) further includes an actuator (807) with opposing first and secondcam plates (808 a, 808 b). First collar (802) includes a first pin (810)extending transversely therefrom. First pin (810) is received in a firstcam channel (812) of cam plate (808 a). Second collar (804) includes asecond pin (814) extending transversely therefrom. Second pin (814) isreceived in a second cam channel (816) of cam plate (808). As best seenin FIGS. 28A-28B, cam channels (812, 816) each extend obliquely relativeto a vertical axis (832). In addition, first cam channel (812) tiltsdistally while second cam channel (816) tilts proximally.

Shaft assembly (30) comprises a pair of articulation bands (840, 842)that are coupled to first and second collars (802, 804) via pins (820,822), respectively. Articulation bands (840, 842) are configured tooperate substantially similar to articulation bands (140, 142), suchthat opposing longitudinal translation of articulation bands (840, 842)causes articulation of articulation section (130). Articulation bands(840, 842) extend slidably and longitudinally through the proximalportion of outer sheath (32). Pin (820) is received within annulargroove (824) of first collar (802), and pin (822) is received withinannular groove (826) of second collar (804). Thus, as shaft assembly(30) rotates relative to articulation control assembly (800), pin (820)rotates within annular groove (824), and pin (822) rotates withinannular groove (826). Pins (820, 822) are mechanically coupled withrespective articulation bands (840, 842), respectively, such thatlongitudinal translation of pin (820) causes longitudinal translation ofarticulation band (840), and such that longitudinal translation of pin(822) causes longitudinal translation of articulation band (842).

Actuator (807) of the present example includes a threaded bore (828)that is configured to threadably couple with a threaded rod (830) thatis coupled to knob (806). Knob (806) and threaded rod (830) are fixedtogether along an axis (832) such that rotation of knob (806) causesactuator to move longitudinally along axis (832) due to the threadedcoupling between threaded rod (830) and actuator (807). For example,rotating knob (806) in a first direction causes actuator (807) to movein a direction away from knob (806) along axis (832), and along a planethat is perpendicular to the longitudinal axis of outer sheath (32).Rotating knob (806) in a second direction causes actuator (807) to movetoward knob (807) along axis (832), and along a plane that isperpendicular to the longitudinal axis of outer sheath (32).

As shown in the transition from FIG. 28A to FIG. 28B, knob (806) hasbeen rotated in a direction that has caused actuator (807) to move awayfrom knob (806). Due to the configuration of cam channels (812, 816),the movement of actuator (807) away from knob (806) causes pins (810,814) to follow cam channels (812, 816). Thus, pin (810) is urged in aproximal direction by cam channel (812), thereby causing proximaltranslation of collar (802). Similarly, pin (814) is urged in a distaldirection by cam channel (816), thereby causing distal translation ofcollar (804). Due to the coupling engagement between collar (902) andarticulation band (940), the proximal translation of collar (802) causesthe proximal translation of articulation band (840). Similarly, due tothe coupling engagement between collar (804) and articulation band(842), the distal translation of collar (804) causes the distaltranslation of articulation band (842). Thus, articulation bands (840,842) translate simultaneously in opposing longitudinal directions inresponse to rotation of knob (806). Rotation of knob (806) will therebychange the articulation state of articulation section (130).

It should be understood that pins (810, 814) and cam channels (812, 816)may be positioned and arranged such that rotation of knob (806) in afirst angular direction will cause articulation section (130) to deflectin a first lateral direction away from the longitudinal axis of outersheath (32); while rotation of knob (806) in a second angular directionwill cause articulation section (130) to deflect in a second lateraldirection away from the longitudinal axis of outer sheath (32). Itshould also be understood that, due to the configuration and arrangementof pins (810, 814) and cam channels (812, 816), articulation controlassembly (800) may provide self-locking of articulation section (130).In other words, friction between pins (810, 814) and cam channels (812,816) may prevent articulation section (130) from inadvertentlydeflecting away from a selected state of articulation unless and untilthe operator rotates knob (806).

H. Articulation Control Assembly with Self-Locking Rotary Cam Features

FIGS. 29A-30B show another exemplary alternative articulation controlassembly (900) that may be readily incorporated into instrument (10) inplace of articulation control assembly (100). Articulation controlassembly (900) is configured to articulate articulation section (130) ina substantially similar manner to articulation control assembly (100),except for the differences described below. Articulation controlassembly (900) is secured to a proximal portion of outer sheath (32) ofshaft assembly (30).

Articulation control assembly (900) comprises a first collar (902), asecond collar (904), a rotatable knob (906), and a cam plate (908). Camplate (908) is coupled to rotatable knob (906) such that rotation ofrotatable knob (906) causes rotation of cam plate (908). First collar(902) includes a first pin (910) extending transversely therefrom. Firstpin (910) is received in a first cam channel (912) of cam plate (908).Second collar (904) includes a second pin (914) extending transverselytherefrom. Second pin (914) is received in a second cam channel (916) ofcam plate (908).

Shaft assembly (30) comprises a pair of articulation bands (940, 942)that are coupled to first and second collars (902, 904) via pins (920,922), respectfully. Articulation bands (940, 942) are configured tooperate substantially similar to articulation bands (140, 142), suchthat opposing longitudinal translation of articulation bands (940, 942)causes articulation of articulation section (130). Articulation bands(940, 942) extend slidably and longitudinally through the proximalportion of outer sheath (32). Pin (920) is received within annulargroove (924) of first collar (902), and pin (922) is received withinannular groove (926) of second collar (904). Thus, as shaft assembly(30) rotates relative to articulation control assembly (900), pin (920)rotates within annular groove (924) and pin (922) rotates within annulargroove (926). Pins (920, 922) are mechanically coupled with respectivearticulation bands (940, 942) such that longitudinal translation of pin(920) causes longitudinal translation of articulation band (940), andsuch that longitudinal translation of pin (922) causes longitudinaltranslation of articulation band (942).

As shown in the transition from FIG. 30A to FIG. 30B, knob (906) hasbeen rotated in a direction that has caused cam plate (908) to movecounterclockwise. Due to the configuration of cam channels (912, 916),the counterclockwise rotation of cam plate (908) causes pins (910, 914)to follow cam channels (912, 916) such that pin (910) is urged distallywhile pin (914) is urged proximally. The proximal movement of pin (910)provides proximal movement of collar (902), which in turn causesproximal movement of articulation band (940). The distal movement of pin(914) provides distal movement of collar (904), which in turn causesdistal movement of articulation band (942). Thus, articulation bands(940, 942) translate simultaneously in opposing longitudinal directionsin response to rotation of knob (906). Rotation of knob (906) willthereby change the articulation state of articulation section (130).

It should be understood that pins (910, 914) and cam channels (912, 916)may be positioned and arranged such that rotation of knob (906) in afirst angular direction will cause articulation section (130) to deflectin a first lateral direction away from the longitudinal axis of outersheath (32); while rotation of knob (906) in a second angular directionwill cause articulation section (130) to deflect in a second lateraldirection away from the longitudinal axis of outer sheath (32). Itshould also be understood that, due to the configuration and arrangementof pins (910, 914) and cam channels (912, 916), articulation controlassembly (900) may provide self-locking of articulation section (130).In other words, friction between pins (910, 914) and cam channels (912,916) may prevent articulation section (130) from inadvertentlydeflecting away from a selected state of articulation unless and untilthe operator rotates knob (906).

III. Exemplary Combinations

The following examples relate to various non-exhaustive ways in whichthe teachings herein may be combined or applied. It should be understoodthat the following examples are not intended to restrict the coverage ofany claims that may be presented at any time in this application or insubsequent filings of this application. No disclaimer is intended. Thefollowing examples are being provided for nothing more than merelyillustrative purposes. It is contemplated that the various teachingsherein may be arranged and applied in numerous other ways. It is alsocontemplated that some variations may omit certain features referred toin the below examples. Therefore, none of the aspects or featuresreferred to below should be deemed critical unless otherwise explicitlyindicated as such at a later date by the inventors or by a successor ininterest to the inventors. If any claims are presented in thisapplication or in subsequent filings related to this application thatinclude additional features beyond those referred to below, thoseadditional features shall not be presumed to have been added for anyreason relating to patentability.

Example 1

An apparatus for operating on tissue, the apparatus comprising: (a) abody assembly; (b) a shaft extending distally from the body assembly,wherein the shaft defines a longitudinal axis; (c) an acousticwaveguide, wherein the waveguide comprises a flexible portion; (d) anarticulation section coupled with the shaft, wherein a portion of thearticulation section encompasses the flexible portion of the waveguide;(e) an end effector comprising an ultrasonic blade in acousticcommunication with the waveguide; (f) an articulation drive assemblyoperable to drive articulation of the articulation section to therebydeflect the end effector from the longitudinal axis, wherein thearticulation drive assembly comprises an actuator, wherein the actuatoris movable relative to the body assembly to drive articulation of thearticulation section; and (g) a locking feature in communication withthe actuator, wherein the locking feature is movable between an unlockedstate and a locked state, wherein the locking feature is configured topermit movement of the actuator relative to the body assembly in theunlocked state, wherein the locking feature is configured to preventmovement of the actuator relative to the body assembly in the lockedstate.

Example 2

The apparatus of Example 1 or any of the following Examples, wherein thelocking feature is resiliently biased into the locked configuration.

Example 3

The apparatus of Example 2, wherein the locking feature is resilientlybiased along an axis that is perpendicular to the longitudinal axis.

Example 4

The apparatus of Example 2, wherein the locking feature is resilientlybiased along a plane that is parallel to the longitudinal axis.

Example 5

The apparatus of any of the preceding or following Examples, wherein thebody assembly comprises an articulation housing, wherein the actuatorcomprises a knob having a handle and a body portion, wherein thearticulation housing is configured to receive the body portion of theknob.

Example 6

The apparatus of Example 5, wherein the locking feature comprises a maledetent feature and a female detent feature configured to receive themale detent feature, wherein the male detent feature is disposed on oneof the knob or the articulation housing, wherein the female detentfeature is disposed on the other of the knob or the articulationhousing.

Example 7

The apparatus of Example 6, wherein the knob comprises a plurality ofmale detent features disposed circumferentially on the knob, wherein thearticulation housing comprises a plurality of female detent featuresconfigured to correspondingly receive the male detent features.

Example 8

The apparatus of Example 5, wherein knob comprises a movable arm havingan end, wherein the end of the movable arm is positioned to engage anengageable portion of the articulation housing in the lockedconfiguration, wherein the end of the movable arm is configured to bespaced from the engageable portion of the articulation housing in theunlocked configuration.

Example 9

The apparatus of Example 5, wherein the housing comprises an inner wall,wherein the locking feature comprises a plurality of first engagementfeatures circumferentially disposed on the inner wall.

Example 10

The apparatus of any of the preceding or following Examples, wherein thelocking feature comprises a button extending along an axis of theactuator, wherein the locking feature is configured to move to theunlocked configuration in response to an actuation of the button alongthe axis.

Example 11

The apparatus of Example 10, wherein the locking feature comprises atleast one member operably coupled to the button, wherein the at leastone member is biased radially inwardly toward the axis, wherein themember is configured to move radially inwardly in response to actuatingthe button along the axis.

Example 12

The apparatus of Example 10, wherein the body assembly comprises anarticulation housing comprising an inner wall, wherein the articulationhousing is configured to receive a portion of the actuator such that theinner wall surrounds a portion of the actuator, wherein the at least onemember is configured to engage a portion of the inner wall prior tomoving radially inwardly in response to actuating the button along theaxis.

Example 13

The apparatus of Example 13, wherein the inner wall comprises a firstdetent feature, wherein the member comprises a second detent feature,where the first detent feature is complementary to the second detentfeature.

Example 14

The apparatus of any of the preceding or following Examples, wherein thelocking feature comprises a lever that is movable along a plane that isparallel to the longitudinal axis.

Example 15

The apparatus of any of the preceding or following Examples, wherein thelocking feature is configured to prevent movement of the actuator inonly one direction.

Example 16

An apparatus for operating on tissue, the apparatus comprising: (a) abody assembly; (b) a shaft extending distally from the body assembly,wherein the shaft defines a longitudinal axis; (c) an articulationsection coupled with the shaft; (d) an end effector coupled with thearticulation section, wherein the end effector comprise a workingelement configured to engage tissue; (e) an articulation drive assemblyoperable to drive articulation of the articulation section to therebydeflect the end effector from the longitudinal axis, wherein thearticulation drive assembly comprises: (i) a first member, (ii) a secondmember, and (iii) a rotatable member, wherein the first and secondmembers are operable to translate simultaneously in opposite directionsto thereby deflect the end effector from the longitudinal axis inresponse to rotation of the rotatable member relative to the bodyassembly; and (f) a locking feature movable between a first position anda second position relative to the rotatable member; wherein the lockingfeature is configured to resist rotation of the rotatable member in thefirst position; wherein the locking feature is configured to allowrotation of the rotatable member in the second position.

Example 17

The apparatus of Example 16 or any of the following examples, whereinthe rotatable member comprises a knob operably coupled to a threadedrod.

Example 18

The apparatus of Example 16 or any of the following examples, whereinthe articulation drive assembly comprises a first collar coupled to thefirst member and a second collar coupled to the second member, whereinthe first collar and second collar are movable along the longitudinalaxis in response to rotation of the rotatable knob to thereby causetranslation of the first and second members.

Example 19

The apparatus of Example 16 or any of the following examples, whereinthe locking feature includes at least one pin and at least one cammember operably coupled to the pin.

Example 20

An apparatus for operating on tissue, the apparatus comprising: (a) abody assembly; (b) a shaft extending distally from the body assembly,wherein the shaft defines a longitudinal axis; (c) an acousticwaveguide, wherein the waveguide comprises a flexible portion; (d) anarticulation section coupled with the shaft, wherein a portion of thearticulation section encompasses the flexible portion of the waveguide,wherein the articulation section further comprises: (i) a first member,and (ii) a second member, wherein the second member is longitudinallytranslatable relative to the first member; (e) an end effectorcomprising an ultrasonic blade in acoustic communication with thewaveguide; (f) an articulation drive assembly operable to drivearticulation of the articulation section to thereby deflect the endeffector from the longitudinal axis in the first direction, wherein thearticulation drive assembly comprises a knob having a handle portion anda body portion, wherein the body portion of the knob positioned within ahousing portion of the body assembly, wherein the body portion of theknob is configured to rotate within the housing portion, wherein theknob is rotatable to drive articulation of the articulation section; and(h) a locking feature, wherein the locking feature is movable between anunlocked state and a locked state, wherein the locking feature isconfigured to permit rotation of the knob in the unlocked state, whereinthe locking feature is configured to prevent rotation of the knob in thelocked state.

IV. Miscellaneous

It should be understood that any of the versions of instrumentsdescribed herein may include various other features in addition to or inlieu of those described above. By way of example only, any of theinstruments described herein may also include one or more of the variousfeatures disclosed in any of the various references that areincorporated by reference herein. It should also be understood that theteachings herein may be readily applied to any of the instrumentsdescribed in any of the other references cited herein, such that theteachings herein may be readily combined with the teachings of any ofthe references cited herein in numerous ways. Moreover, those ofordinary skill in the art will recognize that various teachings hereinmay be readily applied to electrosurgical instruments, staplinginstruments, and other kinds of surgical instruments. Other types ofinstruments into which the teachings herein may be incorporated will beapparent to those of ordinary skill in the art.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions of the devices described above may have application inconventional medical treatments and procedures conducted by a medicalprofessional, as well as application in robotic-assisted medicaltreatments and procedures. By way of example only, various teachingsherein may be readily incorporated into a robotic surgical system suchas the DAVINCI™ system by Intuitive Surgical, Inc., of Sunnyvale, Calif.Similarly, those of ordinary skill in the art will recognize thatvarious teachings herein may be readily combined with various teachingsof U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool withUltrasound Cauterizing and Cutting Instrument,” published Aug. 31, 2004,the disclosure of which is incorporated by reference herein.

Versions described above may be designed to be disposed of after asingle use, or they can be designed to be used multiple times. Versionsmay, in either or both cases, be reconditioned for reuse after at leastone use. Reconditioning may include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, someversions of the device may be disassembled, and any number of theparticular pieces or parts of the device may be selectively replaced orremoved in any combination. Upon cleaning and/or replacement ofparticular parts, some versions of the device may be reassembled forsubsequent use either at a reconditioning facility, or by a userimmediately prior to a procedure. Those skilled in the art willappreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

1-20. (canceled)
 21. A surgical instrument, comprising: (a) a bodyassembly; (b) a shaft assembly extending distally from the body assemblyand defining a longitudinal axis; (c) an articulation section coupledwith the shaft assembly; (d) an end effector coupled with thearticulation section, wherein the end effector has a working elementconfigured to engage tissue; (e) an articulation control assemblyconfigured to drive articulation of the articulation section to therebydeflect the end effector from the longitudinal axis, wherein thearticulation control assembly includes: (i) a cam member including afirst cam channel and configured to selectively rotate relative to thebody assembly, (ii) a first pin received within the first cam channel,and (iii) a first member operatively connected to the first pin andconfigured to translate to thereby deflect the end effector from thelongitudinal axis in response to rotation of the cam member relative tothe body assembly, wherein the first cam channel frictionally engagesthe first pin to prevent inadvertent articulation of the articulationsection unless the cam member is selectively rotated such that thearticulation control assembly is self-locking.
 22. The surgicalinstrument of claim 21, wherein the articulation control assemblyfurther includes: (i) the cam member including a second cam channel,(ii) a second pin received within the second cam channel, and (iii) asecond member operatively connected to the second pin and configured totranslate to thereby deflect the end effector from the longitudinal axisin response to rotation of the cam member relative to the body assembly,wherein the second cam channel frictionally engages the second pin toprevent inadvertent articulation of the articulation section unless thecam member is selectively rotated such that the articulation controlassembly is self-locking.
 23. The surgical instrument of claim 22,wherein the first and second members are configured to translatesimultaneously in opposite directions to thereby deflect the endeffector from the longitudinal axis in response to rotation of therotatable member relative to the body assembly.
 24. The surgicalinstrument of claim 23, wherein the articulation control assemblyfurther includes: (i) a first collar, wherein the first pin extends fromfirst collar and into the first cam channel, wherein the first collar issecured to the first member and configured to translate, and (ii) asecond collar, wherein the second pin extends from second collar intothe second cam channel, wherein the second collar is secured to thesecond member and configured to translate.
 25. The surgical instrumentof claim 24, wherein the first collar is secured to the first member viaa third pin, and wherein the second collar is secured to the secondmember via a fourth pin.
 26. The surgical instrument of claim 23,wherein the first and second members respectively are a first band and asecond band.
 27. The surgical instrument of claim 21, wherein the firstcam channel is arcuate.
 28. The surgical instrument of claim 21, whereinthe cam member is a cam plate.
 29. The surgical instrument of claim 21,wherein the articulation control assembly further includes a firstcollar, wherein the first pin extends from first collar and into thefirst cam channel, wherein the first collar is secured to the firstmember and configured to translate.
 30. The surgical instrument of claim21, wherein the cam member is configured to rotate in a first plane, andwherein the first pin extends transversely to the first plane in thefirst cam channel.
 31. The surgical instrument of claim 21, wherein thecam member is configured to rotate in a first angular direction tothereby deflect the end effector in a first lateral direction relativeto the longitudinal axis, and wherein the cam member is configured torotate in a second angular direction opposite the first angulardirection to thereby deflect the end effector in a second lateraldirection opposite the first lateral direction relative to thelongitudinal axis.
 32. The surgical instrument of claim 21, wherein thearticulation control assembly further includes a knob extending from thecam member.
 33. The surgical instrument of claim 32, wherein the cammember is configured to rotate in a first plane, wherein the first pinextends transversely to the first plane in the first cam channel, andwherein the knob extends transversely from the cam member relative tothe first plane.
 34. The surgical instrument of claim 21, wherein theshaft assembly further includes an outer sheath, and wherein thearticulation control assembly is secured to a proximal portion of theouter sheath.
 35. The surgical instrument of claim 21, wherein the shaftassembly further includes an acoustic waveguide.
 36. A surgicalinstrument, comprising: (a) a body assembly; (b) a shaft assemblyextending distally from the body assembly and defining a longitudinalaxis; (c) an articulation section coupled with the shaft assembly; (d)an end effector coupled with the articulation section, wherein the endeffector has a working element configured to engage tissue; (e) anarticulation control assembly configured to drive articulation of thearticulation section to thereby deflect the end effector from thelongitudinal axis, wherein the articulation control assembly includes:(i) a cam member configured to selectively rotate relative to the bodyassembly, (ii) a first member operatively connected to the cam member,and (iii) a second member operatively connected to the cam member,wherein the first and second members are configured to translatesimultaneously in opposite directions to thereby deflect the endeffector from the longitudinal axis in response to rotation of therotatable member relative to the body assembly, and wherein the cammember is configured to prevent inadvertent articulation of thearticulation section unless the cam member is selectively rotated suchthat the articulation control assembly is self-locking.
 37. The surgicalinstrument of claim 36, wherein the articulation control assemblyfurther includes: (i) a first collar secured to the first member andconfigured to translate, and (ii) a second collar secured to the secondmember and configured to translate.
 38. The surgical instrument of claim36, wherein the cam member includes a first arcuate cam channel and asecond arcuate cam channel.
 39. The surgical instrument of claim 36,wherein the shaft assembly further includes an acoustic waveguide.
 40. Amethod of deflecting an end effector of a surgical instrument, thesurgical instrument including: (a) a body assembly; (b) a shaft assemblyextending distally from the body assembly and defining a longitudinalaxis; (c) an articulation section coupled with the shaft assembly; (d)the end effector coupled with the articulation section, wherein the endeffector has a working element configured to engage tissue; (e) anarticulation control assembly configured to drive articulation of thearticulation section to thereby deflect the end effector from thelongitudinal axis, wherein the articulation control assembly includes:(i) a cam member including a first cam channel and configured toselectively rotate relative to the body assembly, (ii) a first pinreceived within the first cam channel, and (iii) a first memberoperatively connected to the first pin and configured to translate tothereby deflect the end effector from the longitudinal axis in responseto rotation of the cam member relative to the body assembly, wherein thefirst cam channel frictionally engages the first pin to preventinadvertent articulation of the articulation section unless the cammember is selectively rotated such that the articulation controlassembly is self-locking, the method comprising: (a) preventingarticulation of the articulation section via the articulation controlassembly until the first member is selectively rotate; and (b)selectively rotating the first member thereby deflecting the endeffector relative to the longitudinal axis.